from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import ExecuteProcess


def generate_launch_description():
    return LaunchDescription([
        Node(
            package="ros2_cpp_pkg",
            executable="rpm_pub",
            name="rpm_pub_node",
            parameters=[
                {"rpm_val": 5.0}
            ]
        ),
        Node(
            package="ros2_cpp_pkg",
            executable="speed_calc",
            name="speed_calc_node",
            parameters=[
                {"wheel_radius": 10/100} # Centimeters to Meters
            ]
        ),
        ExecuteProcess(
            cmd=["ros2", "topic", "list"],
            output="both"
        )
    ])